12 papers
asRoBallet: Closing the Sim2Real Gap via Friction-Aware Reinforcement Learning for Underactuated Spherical Dynamics
Fang Wan, Guangyi Huang, Tianyu Wu +5
We introduce asRoBallet, to the best of our knowledge, the first end-to-end reinforcement learning (RL) locomotion policy deployed on a humanoid ballbot hardware platform. Historic…
A Dataset and Benchmark for Robotic Cloth Unfolding Grasp Selection: The ICRA 2024 Cloth Competition
Victor-Louis De Gusseme, Thomas Lips, Remko Proesmans +59
Robotic cloth manipulation suffers from a lack of standardized benchmarks and shared datasets for evaluating and comparing different approaches. To address this, we created a bench…
Multi-Layered Reasoning from a Single Viewpoint for Learning See-Through Grasping
Fang Wan, Chaoyang Song
Sensory substitution enables biological systems to perceive stimuli that are typically perceived by another organ, which is inspirational for physical agents. Multimodal perception…
One-DoF Robotic Design of Overconstrained Limbs with Energy-Efficient, Self-Collision-Free Motion
Yuping Gu, Bangchao Huang, Haoran Sun +6
While it is expected to build robotic limbs with multiple degrees of freedom (DoF) inspired by nature, a single DoF design remains fundamental, providing benefits that include, but…
MagiClaw: A Dual-Use, Vision-Based Soft Gripper for Bridging the Human Demonstration to Robotic Deployment Gap
Tianyu Wu, Xudong Han, Haoran Sun +4
The transfer of manipulation skills from human demonstration to robotic execution is often hindered by a "domain gap" in sensing and morphology. This paper introduces MagiClaw, a v…
Overconstrained Locomotion
Haoran Sun, Bangchao Huang, Zishang Zhang +11
This paper studies the design, control, and learning of a novel robotic limb that produces overconstrained locomotion by employing the Bennett linkage for motion generation, capabl…